Commit 99d93178 authored by Kelvin Rodriguez's avatar Kelvin Rodriguez Committed by Jesse Mapel
Browse files

Updates BulletDSKShape's methods for multisegment DSKs (#3181) 

* fixed DSK segment methods

* fixed some errors

* added contraints

* fixed bug where an extra segment was added
parent 056be1cd

isis/src/base/objs/BulletDskShape/BulletDskShape.cpp

+22 −11
Original line number Diff line number Diff line
@@ -74,11 +74,15 @@ namespace Isis { 
   * @return @b int The number of triangles. If nothing has been loaded, then 0 is returned.

   */

  int BulletDskShape::getNumTriangles() const {

    size_t num_triangles = 0;



    if (m_mesh) {

      return ( m_mesh->getIndexedMeshArray()[0].m_numTriangles );

      for(size_t i = 0; i < m_mesh->getIndexedMeshArray().size(); i++) {

        num_triangles += m_mesh->getIndexedMeshArray()[i].m_numTriangles;

      }

    }



    return 0;

    return num_triangles;

  }
@@ -88,11 +92,15 @@ namespace Isis { 
   * @return @b int The number of verticies. If nothing has been loaded, then 0 is returned.

   */

  int BulletDskShape::getNumVertices() const {

    size_t num_vertices = 0;



    if (m_mesh) {

      return ( m_mesh->getIndexedMeshArray()[0].m_numVertices );

      for(size_t i = 0; i < m_mesh->getIndexedMeshArray().size(); i++) {

        num_vertices += m_mesh->getIndexedMeshArray()[i].m_numVertices;

      }

    }



    return 0;

    return num_vertices;

  }
@@ -108,8 +116,8 @@ namespace Isis { 
  *

  * @return @b btVector3 The local normal for the triangle.

  */

  btVector3 BulletDskShape::getNormal(const int indexId) const {

    btMatrix3x3 triangle = getTriangle(indexId);

  btVector3 BulletDskShape::getNormal(const int indexId, const int segment) const {

    btMatrix3x3 triangle = getTriangle(indexId, segment);

    btVector3 edge1 = triangle.getRow(1) - triangle.getRow(0);

    btVector3 edge2 = triangle.getRow(2) - triangle.getRow(0);

    return ( edge1.cross( edge2 ) );
@@ -125,12 +133,15 @@ namespace Isis { 
   *                        vertex. The vertices are ordered counter-clockwise

   *                        around the surface normal of the triangle.

   */

  btMatrix3x3 BulletDskShape::getTriangle(const int index) const {

  btMatrix3x3 BulletDskShape::getTriangle(const int index, const int segment) const {

    btAssert ( index >= 0 );

    btAssert ( index < getNumTriangles() );

    btAssert ( index < getIndexedMeshArray()[segment].m_numTriangles );



    btAssert ( segment >= 0 );

    btAssert ( segment < getIndexedMeshArray().size());



     // Set up pointers to triangle indexes

    const btIndexedMesh &v_mesh = m_mesh->getIndexedMeshArray()[0];

    const btIndexedMesh &v_mesh = m_mesh->getIndexedMeshArray()[segment];



    const int *t_index = static_cast<int32_t *> ((void *) v_mesh.m_triangleIndexBase);

    int p_index = 3 * index;
@@ -187,7 +198,7 @@ namespace Isis { 
    while(found) {

      dlafns_c(handle, &segments.back(), &segment, &found);

      NaifStatus::CheckErrors();



      if (found)

        segments.push_back(segment);

    }

isis/src/base/objs/BulletDskShape/BulletDskShape.h

+6 −7
Original line number Diff line number Diff line
@@ -48,8 +48,8 @@ namespace Isis { 
      int getNumTriangles() const;

      int getNumVertices() const;



      virtual btVector3 getNormal(const int indexId) const;

      virtual btMatrix3x3 getTriangle(const int index) const;

      virtual btVector3 getNormal(const int indexId, const int segment=0) const;

      virtual btMatrix3x3 getTriangle(const int index, const int segment=0) const;



    private:

      QSharedPointer<btTriangleIndexVertexArray> m_mesh; /**! Triangular mesh representation of
@@ -66,4 +66,3 @@ namespace Isis { 
} // namespace Isis



#endif

isis/tests/BulletDskShapeTests.cpp

+2 −2
Original line number Diff line number Diff line
@@ -49,8 +49,8 @@ TEST(BulletDskShapeTests, MutiSegment) { 
  EXPECT_EQ(multiseg.name(), "");

  EXPECT_DOUBLE_EQ(multiseg.maximumDistance(), 7.3484692283495345);

  EXPECT_TRUE((bool) multiseg.body());

  EXPECT_EQ(multiseg.getNumTriangles(), 14);

  EXPECT_EQ(multiseg.getNumVertices(), 13);

  EXPECT_EQ(multiseg.getNumTriangles(), 28);

  EXPECT_EQ(multiseg.getNumVertices(), 26);



  btMatrix3x3 truthTriangle(0, 0, 6,

                            0, 6, 1,